arxivcs.RO2026-07-14
DenseReward: Dense Reward Learning via Failure Synthesis for Robotic Manipulation
Yu Fang, Wanxi Dong, Jiaqi Liu, Yue Yang, Mingxiao Huo, Yao Mu, et al.
Reinforcement learning holds great promise for improving robot policies beyond the limits of imitation learning. However, its practical adoption remains bottlenecked by the lack of reliable vision-language reward models that provide dense and informative feedback. Two key challen…